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I go to Yellowstone Park the 2nd week of June every year. Last year, all of the campgrounds we drove by (we are out and about at sunrise every day) were marked as "Full" when we drove by them between 8 and 9 am each morning.

The competition to get a campsite at the first-come, first-serve campgrounds is stiff but obviously, people are able to get campsites in the first-come, first-serve campgrounds but it involves getting there very early in the morning and making a sacrifice to the campground gods (just kidding). The park has a sign at each entrance that tells which campgrounds are full and which ones still have openings. Unfortunately, you can't count on the openings still being there by the time you drive to the campground.

Yellowstone Park's website has a "Fill Time" Chart for the campgrounds. Unfortunately, it does not have historical Fill Time data available for previous years to look at. It just shows the fill time for the previous day and the current day. You can start following in June to see what you're going to be up to. Scroll down about half way on this link for the chart.

You just said you were coming in "Late June" but I just checked and there are random dates available at different campgrounds as long as you're not trying for a "Tent Only" loop. Grant Campground has openings for "Large Tent and/or RV 20Ft Total or Less" for June 23, June 25-27.

Where are you coming from the first day? Unless you plan on being in the park very early in the morning, I would highly suggest getting a reservation at a campground outside the park in one of the gateway towns. If you try to enter the park without a reservation and you're unable to get a campsite at a f-c, f-s campground you will have to drive a long ways to get to a campground outside the park.

West Yellowstone has a lot of private campgrounds right inside the town and close to the town. There are also some forest service campgrounds near by the town. While it will increase your travel time each day to base your trip out of West Yellowstone, many people do it and have a fantastic time. Gardiner has two RV Campgrounds right inside the town but only one allows tents. There are some forest service campgrounds (Soda Butte and Colter) by Cooke City (northeast entrance) but you would need to sleep in your van as they are hard-sided campgrounds only.